mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-29 02:21:44 +00:00
82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include "ErrorBase.h"
|
|
#include "SPI.h"
|
|
#include "SmartDashboard/SendableBase.h"
|
|
#include "interfaces/Accelerometer.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* ADXL362 SPI Accelerometer.
|
|
*
|
|
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
|
|
*/
|
|
class ADXL362 : public ErrorBase, public SendableBase, public Accelerometer {
|
|
public:
|
|
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
|
|
struct AllAxes {
|
|
double XAxis;
|
|
double YAxis;
|
|
double ZAxis;
|
|
};
|
|
|
|
public:
|
|
/**
|
|
* Constructor. Uses the onboard CS1.
|
|
*
|
|
* @param range The range (+ or -) that the accelerometer will measure.
|
|
*/
|
|
explicit ADXL362(Range range = kRange_2G);
|
|
|
|
/**
|
|
* Constructor.
|
|
*
|
|
* @param port The SPI port the accelerometer is attached to
|
|
* @param range The range (+ or -) that the accelerometer will measure.
|
|
*/
|
|
explicit ADXL362(SPI::Port port, Range range = kRange_2G);
|
|
|
|
virtual ~ADXL362() = default;
|
|
|
|
ADXL362(const ADXL362&) = delete;
|
|
ADXL362& operator=(const ADXL362&) = delete;
|
|
|
|
// Accelerometer interface
|
|
void SetRange(Range range) override;
|
|
double GetX() override;
|
|
double GetY() override;
|
|
double GetZ() override;
|
|
|
|
/**
|
|
* Get the acceleration of one axis in Gs.
|
|
*
|
|
* @param axis The axis to read from.
|
|
* @return Acceleration of the ADXL362 in Gs.
|
|
*/
|
|
virtual double GetAcceleration(Axes axis);
|
|
|
|
/**
|
|
* Get the acceleration of all axes in Gs.
|
|
*
|
|
* @return An object containing the acceleration measured on each axis of the
|
|
* ADXL362 in Gs.
|
|
*/
|
|
virtual AllAxes GetAccelerations();
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
SPI m_spi;
|
|
double m_gsPerLSB = 0.001;
|
|
};
|
|
|
|
} // namespace frc
|